A New Approach to Adaptive Control of Manipulators

DOI10.1115/1.3143844zbMath0634.93052OpenAlexW1984218880MaRDI QIDQ3773786

H. Seraji

Publication date: 1987

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143844

zbMATH Keywords

linearizationmanipulation robotsadaptive model reference control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Application models in control theory (93C95) Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (18)

Direct adaptive control of robotic systems ⋮ Decentralized adaptive tracking control of robot manipulators ⋮ Discrete-time adaptive control for mechanical manipulators having a joint compliance ⋮ Statistical analysis of tracking and parametric estimation errors in a 2-link robot based on Lyapunov function ⋮ Experimental study on direct adaptive control of a PUMA 560 industrial robot ⋮ A discrete-time adaptive control scheme for robot manipulators ⋮ A multivariable control scheme for robot manipulators ⋮ Decentralized adaptive control of manipulators ⋮ Design of a robust adaptive control law for robotic manipulators ⋮ Improved configuration control for redundant robots ⋮ The dynamic effects and compensation of load transitions in robotic systems ⋮ Direct adaptive impedance control of robot manipulators ⋮ Adaptive learning control of uncertain robotic systems ⋮ Cartesian control of redundant robots ⋮ Decentralized adaptive control of robot manipulators ⋮ Obstacle avoidance for redundant robots using configuration control ⋮ Adaptive sliding mode control with uncertainty estimator for robot manipulators ⋮ Adaptive path tracking control of robotic manipulators with unknown payload dynamics

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